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Reasons from DH/PoE kinematics, Jacobian singularities, and computed-torque/impedance control through ROS 2, MoveIt/OMPL, Nav2/SLAM/AMCL, hand-eye AX=XB, Isaac/Gazebo sim-to-real, and ISO 10218/ISO TS 15066 safety while treating tf/frame errors, encoder drift, backlash, and reality-gap overclaim as first-class failure modes.